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posNED to pos and velNED to vel and add ev vel covariances to reset

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kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent 4f6ca3a74c
commit fd6b364c11
4 changed files with 14 additions and 14 deletions
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EKF/estimator_interface.cpp
+2 -2
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@@ -445,8 +445,8 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
ev_sample_new.velErr = evdata->velErr;
ev_sample_new.hgtErr = evdata->hgtErr;
ev_sample_new.quat = evdata->quat;
ev_sample_new.posNED = evdata->posNED;
ev_sample_new.velNED = evdata->velNED;
ev_sample_new.pos = evdata->pos;
ev_sample_new.vel = evdata->vel;
// record time for comparison next measurement
_time_last_ext_vision = time_usec;